Residue monitoring and residue-based control

ABSTRACT

An agricultural machine includes a set of ground engaging elements that perform a ground engaging operation. The agricultural machine includes a rearward sensor mounted to the agricultural machine to sense an area of ground behind the agricultural machine and generate a rearward sensor signal. The agricultural machine includes rearward zone generator logic that determines a first zone and a second zone, wherein the first zone and the second zone represent portions of the area of ground behind the agricultural machine. The agricultural machine includes rearward residue generator logic configured to receive the rearward sensor signal and determine a first residue metric indicative of the amount of residue in the first zone. The agricultural machine includes control logic that controls one or more aspects of the ground engaging operation on the area of ground based on the first residue metric.

FIELD OF THE DESCRIPTION

This disclosure relates to agricultural machines. More specifically,this disclosure relates to monitoring residue and controlling operationsinvolving residue.

BACKGROUND

Various agricultural or other operations may result in residue coveringa portion of an area addressed by the operation. In an agriculturalsetting, for example, residue may include straw, corn stalks, or variousother types of plant material, which may be either cut or un-cut, andeither loose or attached to the ground to varying degrees. Agriculturalresidue may result, for example, from tillage operations, which maygenerally cut and bury plant material to varying degrees and,accordingly, may result in residue of various sizes covering the tilledground to various degrees. Notably, the size and coverage of residue mayvary from location to location even within a single field, depending onfactors such as the local terrain and soil conditions of the field,local plant coverage, residue characteristics before the tillage (orother) operation, and so on. Residue coverage may generally becharacterized by at least two factors: percent coverage (i.e.,percentage of a given area of ground that is covered by residue) andresidue size (i.e., a characteristic length, width or area of individualpieces of residue).

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

An agricultural machine includes a set of ground engaging elements thatperform a ground engaging operation. The agricultural machine includes arearward sensor mounted to the agricultural machine to sense an area ofground behind the agricultural machine and generate a rearward sensorsignal. The agricultural machine includes rearward zone generator logicthat determines a first zone and a second zone, wherein the first zoneand the second zone represent portions of the area of ground behind theagricultural machine. The agricultural machine includes rearward residuegenerator logic configured to receive the rearward sensor signal anddetermine a first residue metric indicative of the amount of residue inthe first zone. The agricultural machine includes control logic thatcontrols one or more aspects of the ground engaging operation on thearea of ground based on the first residue metric.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view showing an example tillage implement with a wheelassembly in a retracted orientation.

FIG. 2 is another side view of the example tillage implement of FIG. 1 ,with the wheel assembly in an extended orientation.

FIG. 3 is a perspective view of the example tillage implement of FIG. 1, with the wheel assembly in the retracted orientation.

FIGS. 4A and 4B are partial perspective views of the example tillageimplement of FIG. 1 , showing, respectively, rearward and forward imageareas.

FIGS. 5A and 5B are partial perspective views of the example tillageimplement of FIG. 1 , showing, respectively, a plurality of rearward andforward zones.

FIG. 6 is a block diagram showing an example tillage implement.

FIGS. 7A and 7B illustrate a flow diagram showing an example operationof the tillage implement of FIG. 1 .

FIG. 8 is a block diagram of one example of the architecture illustratedin FIG. 6 , deployed in a remote server architecture.

FIGS. 9-11 are examples of mobile devices that can be used in thearchitectures illustrated in the previous figures.

FIG. 12 is a block diagram of one example of a computing environmentthat can be used in the architectures shown in the previous figures.

DETAILED DESCRIPTION

As noted above, various operations may result in residue on a field. Forexample, a primary tillage operation utilizing various rippers, cuttingdisks, and other tools may both cut and bury plant material along afield to varying degrees. Generally, after such an operation (andothers), some amount of residue (i.e., cut and un-cut plant material)may be left on the field surface. Such residue may generally becharacterized at least by a percent coverage (i.e., a percentage of agiven area of ground that is covered by residue) and a characteristicresidue size (i.e., an average, nominal, or other measurement of thelength, width or area of particular pieces of residue).

In certain applications, it may be useful to understand thecharacteristics of residue coverage with relative accuracy. For example,certain regulatory standards addressing erosion and other issues mayspecify a target percent coverage for residue after a particularoperation, such as a primary or secondary tillage operation, a plantingoperation, a spraying operation, and so on. In various instances, it mayalso be useful to understand the characteristic (e.g., average) size ofresidue over a given area of a field. In some cases, it may be useful tounderstand both percent coverage and residue size. For example, in orderto execute an effective primary tillage operation, an operator mayendeavor to leave at least 30% residue coverage, with no more than 10%of residue material being larger than 4 inches long.

In this light, it may be useful to provide a system and method foractively assessing aspects of residue coverage during a particularoperation and utilizing this assessment to control ongoing aspects ofthe particular operation or a different, future operation. For example,for a primary tillage (or other) operation, it may be useful to providea control system that determines the percent coverage and characteristicsize of residue on a portion of field that has already been tilled (orotherwise addressed), then utilize the determined percent coverage andcharacteristic size to guide the continuing tillage (or other) operationor a future operation (e.g., a secondary tillage operation or plantingoperation) on the same field. For more specialized control of thetillage operation, the areas rearward and forward of the tillageimplement can be divided into a plurality of different zones. Each zonecan be independently monitored for percent coverage, characteristic sizeor other metrics. This way, variances of uniformity in residue coveragecan be monitored and addressed.

Various discussions herein may specifically address tillage operationsusing tillage implements. It will be understood, however, that thesystem and method disclosed herein may be utilized for a variety ofother operations and a variety of other implements.

In some examples, one or more camera assemblies may be provided for atillage (or other) implement, which assemblies may be capable ofcapturing visible, infrared, or other images of a field on which theimplement is operating. At least one camera may be mounted to thetillage implement so as to capture images of an area of groundimmediately behind the tillage implement. At least one other camera maybe mounted to the implement so as to capture images of an area of groundahead of the tillage implement. (In this context, it will be understoodthat “ahead,” “behind,” and similar positional references may notnecessarily indicate locations that are entirely forward or rearward ofevery component of the relevant implement. Rather, these references mayindicate locations that are forward or rearward, relative to the normaltravel direction o the implement, of the various tools or othercomponents of the implement that may affect residue coverage on thefield. For example, for a tillage implement with two front disk gangs, acentral ripper assembly, and a back-closing disk assembly a cameracapturing images of an area “ahead” of the implement may be viewed ascapturing images of an area that is forward of the front-most disk gang.Likewise, a camera capturing images of an area “behind” the implementmay be viewed as capturing images of an area that is rearward of theclosing disk assembly.)

The various camera assemblies may capture images in the visiblespectrum, in color or in grayscale, in infrared, based upon reflectanceor fluorescence, or otherwise. In certain examples, one or more cameraassemblies may include stereo image camera assemblies capable ofcapturing stereo images of the field. For example, one or more cameraassemblies may include a stereo camera with two or more lenses and imagesensors, or one or more camera assemblies may include multiple camerasarranged to capture stereoscopic images of the field. The cameraassemblies can, of course, be replaced or used in conjunction with othertypes of sensors as well, for example, lidar, radar, ultrasonic systems,etc.

A computer system or device associated with the relevant implement mayanalyze the images of the field captured by the one or more cameraassemblies in order to determine a metric of residue coverage on thefield. For example, the computer system or device may analyze the imagesin order to determine an indicator of residue coverage, such as apercent coverage of residue in the imaged area of the field or acharacteristic size (or size distribution) of residue in the imaged areaof the field. An image may be analyzed in a variety of ways, includingthrough edge-finding algorithms, color- or grayscale-gradient analysis,or other techniques.

Images from behind an implement (i.e., “rearward” images) may beanalyzed, in order to determine metrics of residue coverage for areas ofa field that have already been tilled (or otherwise addressed by therelevant operation). Theses areas can be further subdivided into zoneswhich will have independent residue coverage metrics. The zones may thenbe compared with one another to monitor residue distribution oruniformity. Images from ahead of an implement (i.e., “forward” images)may also be analyzed, in order to determine metrics of residue coveragefor areas of field that have not yet been tilled (or otherwiseaddressed) in the current pass of the implement. The forward images (orresidue coverage information derived therefrom) may then be comparedwith rearward images of the same (or similar) areas of the field (orresidue coverage information derived therefrom) in order to assess thechange in residue coverage due to the operation performed by theimplement. Forward areas may similarly be divided into zones andmonitored for residue uniformity.

Once a residue coverage metric has been determined, the metric may beutilized to control aspects of a future operation over the field. Forexample, in an ongoing tillage operation, if residue metrics from arearward image indicate insufficient residue coverage or size, variousaspects of the tillage implement (e.g., disk or ripper depth) may beautomatically adjusted in order to provide greater residue coverage orsize. Similarly, if a comparison of residue metrics from forward andrearward images indicates that an ongoing tillage operation isdecreasing residue coverage or size too aggressively, various aspects ofthe implement may be automatically adjusted accordingly. Additionally,if a comparison of residue metrics from lateral zones indicates thatthere is a lack of uniformity laterally across the rear of theimplement, various aspects of the relevant implement may beautomatically adjusted accordingly. For example, the angle of a diskgang may be adjusted to distribute residue from a highly concentratedzone to a lower concentrated zone to increase residue uniformity.Uniform residue coverage can be useful later for air seeders, planters,row cleaners, etc.

A residue coverage metric may be utilized to control aspects of a futureoperation that is distinct from the operation during which the metricwas determined. For example, residue coverage metrics from a primarytillage operation may be associated with location readings from a globalpositioning system (“GPS”) device in order to construct a map of residuecoverage over various areas of a field. During a later secondary tillageoperation, these location-specific residue coverage metrics may then beutilized in order to appropriately control the secondary tillageimplement. For example, if residue coverage metrics from the primarytillage operation indicate excessive residue coverage over a portion ofa field, during a secondary tillage operation various tools on asecondary tillage implement may be automatically controlled to moreaggressively till that portion of the field. Likewise, location-specificreside coverage metrics from a first pass of a primary tillage (orother) operation may be used to automatically control aspects of tillage(or other) tools on a subsequent pass of the operation or of a differentoperation.

The computer system or device may be included on the relevant implement(e.g., as part of an embedded control system). In certain examples, thecomputer system or device may be included on another platform (e.g., atractor towing the implement or a remote ground-station) and maycommunicate with various devices on the implement (e.g., various controldevices) via various known means. In one example, the computer system ordevice may be in communication with a controller area network (CAN) busassociated with the implement or an associated vehicle, in order to sendand receive relevant control and data signals.

As noted above, the system and method described herein may beimplemented with respect to a variety of implements, including variousagricultural or other work implements. In certain examples, thedescribed system and method may be implemented with respect to a primarytillage implement. Referring, for example, to FIGS. 1-6 , an exampleprimary tillage implement is depicted as mulcher-ripper implement 10.

As depicted, implement 10 includes a coupling mechanism 12 for couplingthe implement 10 to a vehicle (not shown). This may allow implement 10to be towed across a field 16 in forward direction 14 in order toexecute a tillage operation. It will be understood that other examplesmay include self-driven implements that may execute various operationswithout being towed by a separate vehicle.

Implement 10 may further include a first frame section 20, which may beconnected to the coupling mechanism 12 and generally extend in arearward direction away from the coupling mechanism 12. A first set ofground-engaging tools may be coupled to the first frame section 20. Asdepicted in FIGS. 1-3 , for example, a set of shanks 22 may be coupledto the first frame section 20. It will be understood, however, thatother tools may additionally (or alternatively) be utilized. In certainexamples a plurality of wheel assemblies 24 may also be coupled to thefirst frame section 20, in order to support the first frame section 20above the field 16.

The implement 10 may include (or may be in communication with) one ormore controllers, which may include various electrical, computerized,electro-hydraulic, or other controllers. For example, anelectrohydraulic controller 30 may be mounted to the coupling mechanism12. The controller 30 may include various processors (not shown) coupledwith various memory architectures (not shown), as well as one or moreelectrohydraulic valves (not shown) to control the flow of hydrauliccontrol signals to various devices included on the implement 10. In someexamples, the controller 30 may be in communication with a CAN busassociated with the implement 10 (or the towing vehicle (not shown)).

One or more hydraulic cylinders 32 (or other lift devices) may becoupled to the first frame section 20 and to the wheel assemblies 24.The cylinders 32 may be controlled by valves in hydraulic (or other)communication with the controller 30, such that the controller 30 maysignal valves to control the cylinders 32 to rotate wheel assemblies 24relative to frame 20 to raise or lower the first frame section 20relative to the field 16 in order to move the various shanks 22 tovarious orientations between a preliminary position or travel position(e.g., FIG. 2 ) and a particular operating depth (FIG. 1 ). In oneexample, activation of the hydraulic cylinders 32 by the controller 30may result in the shanks 22 being moved over a range of sixteen inchesor more (e.g., between the orientations depicted in FIGS. 1 and 2 ).Such movement of the shanks 22 relative to the field 16 may be usefulwith regard to residue management. For example, deeper penetration ofthe shanks 22 into the field 16 may tend to bury more plant matter andtherefore result in smaller percentage coverage of residue.

It will be understood that other configurations may also be possible.For example, the hydraulic cylinders 32 (or another lift device) may becoupled directly to the shanks 22 (or associated support components)rather than the wheel assemblies 24, in order to directly move theshanks 22 relative to frame 20.

Implement 10 may also include a second frame section 40, which may bepivotally coupled to the first frame section 20 (e.g., at one or morepivot points forward of the shanks 22). In certain examples, a secondset of ground-engaging tools may be coupled to the second frame section40. As depicted in FIGS. 1-3 and 4B, for example, a set of disk gangassemblies 42 may be coupled to the second frame section 40. It will beunderstood, however, that other tools may additionally (oralternatively) be utilized.

The disks 46 of the forward disk gang assembly 42 may be angledgenerally outward and the disks 48 of the rearward disk gang assembly 42may be angled generally inward. In this way, the disks 46 may generallyauger soil and plant matter (including residue) outward away from thecenterline of implement 10, and the disks 48 may generally auger soiland plant matter (including residue) inward toward the centerline ofimplement 10. It will be understood, however, that other configurationsmay be possible, including configurations with differently angled disks46 or 48, configurations with a different number or arrangement of diskgang assemblies 42, and so on.

One or more hydraulic cylinders 44 (or other lift devices) may becoupled to the first frame section 20 and to the second frame section40. The cylinders 44 may be in hydraulic (or other) communication withvalves that are controlled by the controller 30, such that thecontroller 30 may signal the cylinders 44 to pivot the second framesection 40 relative to the first frame section 20 in order to move thedisk gang assemblies 42 relative to the first frame section 20. In thisway, controller 30 may adjust the down-pressure of the disk gangassemblies 42 on the field 16 as well as the penetration depth of thedisks of the assemblies 42 into the field 16. In one example, activationof the hydraulic cylinders 44 by the controller 30 may result in thedisk gang assemblies 42 being moved over a range of eight inches ormore. Such movement of the disk gang assemblies 42 relative to the field16 may be useful with regard to residue management. For example, deeperpenetration of the disks 46 and 48 into the field 16 may tend to burymore plant matter and therefore result in smaller percentage coverage ofresidue. Similarly, greater down-pressure of the disks 46 and 48 on thefield 16 may result in a greater amount of plant material being cut bythe disks 46 and 48 and, accordingly, in a generally smallercharacteristic residue size.

It will be understood that other configurations may also be possible.For example, in certain examples, the hydraulic cylinders 44 (or anotherlift device) may be coupled directly to the disk gang assemblies 42 (orassociated support components) rather than the second frame section 40,in order to directly move the disk gang assemblies 42 relative to thefield 16.

Implement 10 may also include a third frame section 56, which may bepivotally coupled to the first frame section 20 (e.g., at one or morepivot points rearward of the shanks 22). A third set of ground-engagingtools may be coupled to the third frame section 56. As shown in FIGS.1-3 and 4A, for example, a closing disk assembly 58 may be coupled tothe third frame section 56. It will be understood, however, that othertools may additionally (or alternatively) be utilized.

One or more hydraulic cylinders 60 (or other lift devices) may becoupled to the first frame section 20 and the third frame section 56.The cylinders 60 may be in hydraulic (or other) communication with thecontroller 30, such that the controller 30 may signal the cylinders 60to pivot the third frame section 56 relative to the first frame section20 in order to move the closing assembly 58 relative to the first framesection 20. In this way, controller 30 may adjust the depth of the disks62 of the assembly 58 relative to the field 16. In certain examples,activation of the hydraulic cylinders 60 by the controller 30 may resultin the disks 62 being moved over a range of eight inches or more. Suchmovement of the disks 62 may also be useful with regard to residuemanagement.

It will be understood that other configurations may also be possible.For instance, in certain examples, the hydraulic cylinders 60 (oranother lift device) may be coupled directly to the closing diskassembly 58 (or associated support components) rather than the thirdframe section 56, in order to directly move the closing disk assembly 58relative to the field 16.

Various other control devices and systems may be included on (orotherwise associated with implement 10. For example, a depth controldevice 70 may be mounted to the first frame section 20 and may be inhydraulic, electronic or other communication with controller 30, andcylinders 32, 44, and 60. The depth control device 70 may includevarious sensors (e.g., rotational sensors, potentiometers, pressuretransducers, hall-effect rotational sensors, and so on) configured tosense indications (e.g., pressure, relative position, or combination ofpressure and relative position) of the relative location (e.g., relativeposition with respect to the frame of relative depth with respect tofield 16) of the shanks 22, the disks 46 and 48, the disks 62, orvarious other tools (not shown). A control unit (e.g., a control unitincluded in the controller 30) may receive signals from the varioussensors associated with control device 70 that may indicate a particularorientation (e.g., depth) of shanks 22, disks 46 and 48, or disks 62.The control unit may then, using open loop, closed loop,proportional-integral-derivative “PID,” or other control methodologies,determine an appropriate control signal to cause the cylinders 32, 44,and 60 to adjust, respectively, the orientation of the shanks 22, disks46 and 48, and disks 62, as appropriate. In this way, for example, thecombined system of controller 30, the sensors of control device 70 andthe cylinders 32, 44, and 60 may move the shanks 22, disks 46 and 48,and disks 62 to, and maintain these devices at, any desired orientation.

One or more location-sensing devices may also be included on (orotherwise associated with) the implement 10. For example, a GPS device72 may use GPS technology to detect the location of the implement 10along the field 16 at regular intervals (e.g., during a tillageoperation). The detected locations may then be communicated via variousknown means to the controller 30 (or another computing device) in orderto inform various control strategies. The detected locations mayadditionally (or alternatively) be communicated to one or more remotesystems. For example, GPS device 72 may wirelessly transmit locationinformation for the implement 10 to a remote monitoring system fortracking of various aspects of the operation of the implement 10. Asdepicted in FIGS. 1-4 , the GPS device 72 may be mounted to implement10. In other examples, the GPS device 72 may be mounted in other ways,including to a vehicle (not shown) that tows the implement 10 along thefield 16.

One or more camera assemblies may also be included on (or otherwiseassociated with) the implement 10. In some examples, such as those shownin FIGS. 4A and 4B, rearward camera assembly 74 may be mounted to theimplement 10 (or otherwise positioned) in order to capture images of anarea 76 behind the implement 10 (i.e., “rearward images”). Forwardcamera assembly 78 may additionally (or alternatively) be mounted to theimplement 10 (or otherwise positioned) in order to capture images of anarea 80 forward of the implement 10 (i.e., “forward” images). The cameraassemblies 74 and 78 may be in electronic (or other) communication withthe controller 30 (or other devices) and may include various numbers ofcameras of various types. For example, one or both of the assemblies 74and 78 may include a camera to capture images in the visible lightspectrum or an infrared camera to capture infrared images. As anotherexample, one or both of the assemblies 74 and 78 may include a grayscalecamera to capture grayscale images. As another example, one or both ofthe assemblies 74 and 78 may include a stereo camera assembly capable ofcapturing stereo images. For instance, one or both of the assemblies 74and 78 may include a stereo camera with two or more lenses and imagesensors, or multiple cameras arranged to capture stereoscopic images ofthe areas 76 and 80.

Images may be captured by camera assemblies 74 and 78 according tovarious timings or other considerations. For example, the respectiveassemblies 74 and 78 may capture images continuously as implement 10executes a tillage (or other) operation on the field 16. An embeddedcontrol system (not shown) for each assembly 74 and 78 may cause therespective assemblies 74 and 78 to capture images of the areas 76 and80, respectively, at regular time intervals as implement 10 executes atillage (or other) operation on the field 16.

The timing of image capture by rearward camera assembly 74 may be offsetfrom the timing of image capture by forward camera assembly 78 such thatthe portion of the field 16 within the image area 76 when the rearwardcamera assembly 74 captures an image substantially overlaps with theportion of the field 16 that was within the image area 80 when theforward camera assembly 78 captured a prior image. As such, for example,the relative timing of image capture for the two assemblies 74 and 78may be varied by a control system (e.g., controller 30) based upon theground speed of implement 10. This way, the images can be compared toidentify the effect of the tillage operation.

It will be understood that the image capture areas 76 and 80 of FIGS. 4Aand 4B are presented as example image capture areas only, and thatimages may additionally (or alternatively) be captured of differentareas of the field 16. Likewise, the mounting locations of the forwardand rearward camera assemblies 78 and 74 are presented as examples only,and the camera assemblies 78 and 74 (or various other camera assemblies)may be mounted at various other locations. In certain examples, one ormore camera assemblies may be mounted to a vehicle (not shown) that istowing the implement 10, or at various other locations.

As the relevant operation (e.g., a tillage operation) is executed, oneor more camera assemblies may capture one or more images of an area ofthe field. The captured images may include images of an area that iscurrently forward of the relevant implement (i.e., forward images) andmay include images of an area that is currently rearward of the relevantimplement (i.e., rearward images). In certain examples, only forwardimages may be captured, only rearward images may be captured, or bothforward and rearward images and may be captured. Various images and maybe captured continuously, at pre-determined times, in response toparticular events (e.g., the implement passing a marker on a field,entering a particular field region, or undergoing any variety oftransient event), or at pre-determined intervals (e.g., every 3seconds).

With respect to the implement 10, for example, the rearward cameraassembly 74 may capture one or more rearward images of rearward imagearea 76 and the forward camera assembly 78 may capture one or moreforward images of forward image area 80. The various forward images andrearward images may be captured continuously (e.g., as a video stream),at predetermined intervals, or based upon other criteria.

In certain implementations, the timing of the capture of forward imagesand rearward images may be arranged so that at least one capturedforward image and at least one captured rearward image includesubstantially similar (e.g., substantially overlapping) views of thefield 16. For example, where implement 10 is moving with a known speedand direction while executing a tillage operation, the area of the field16 falling within the forward image area 80 at a particular time mayfall within the rearward image area 76 a known amount of time later.Accordingly, where both forward and rearward images are acquirednon-continuously, it may be possible for controller 30 to control thetiming of the capture of the images, respectively, by camera assemblies78 and 74 such that the two assemblies 78 and 74 each capture images ofsubstantially the same portion of field 16. For example, if theimplement 10 is being towed at a speed of 4 m/s and there are 2 metersseparating the two image areas 76 and 80, the controller 30 may directrearward camera assembly 74 to capture images with an offset of 0.5seconds from the capture of corresponding images by forward camera 78.

Similarly, if images are captured continuously by the two cameraassemblies 74 and 78, corresponding frames from the two assemblies 74and 78 (i.e., frames representing images of the same portion of thefield 16) may be determined based on the amount of time the implement 10requires to travel the distance between the forward and rearward imageareas 80 and 76. For example, if the implement 10 is being towed at aspeed of 4 m/s and there are 2 meters separating the two image areas 76and 80, determine that an image frame captured by the rearward cameraassembly 74 may include a view of a similar area of the field 16 as animage frame captured by the forward camera assembly 0.5 seconds earlierin time.

In another example, a control system may have access to the dimensionsof the implement and the locations of the camera assemblies 74 and 78and the locations of the fields of view of the camera assemblies. Inthat way, based on the location of the implement 10, and as thatlocation changes, the control system can determine when a rearward imageis of the same portion of the field as a previously captured forwardimage. Thus, the two images can be corelated with one another based on alocation where they were taken instead of, or in addition to, the timeoffset between the images and the speed and heading of the implement.

Because the captured images are to be utilized, at least in part, toassess residue coverage and, potentially, to corresponding control ofvarious operations (as described in greater detail below), it may beuseful for the images to include views of areas of the field 16 that arerelatively nearby the relevant implement. Accordingly, as noted above,the view of a rearward camera assembly may be generally directed towarda rearward image area that is relatively close to the rearmost activeportion of the relevant implement (e.g., an area immediately behind therearmost tool or component that may affect residue coverage). Similarly,the view of a forward camera assembly may be generally directed toward aforward image area that is relatively close to the most forward activeportion of the relevant implement (e.g., an area immediately ahead ofthe most forward tool or component that may affect residue coverage).Previous attempts at residue monitoring took the entire residue metricof area 76 and compared it to the entire residue metric of area 80. Thisform of the residue monitoring effectively took an average of the area(e.g., area 76 or 80) and ignored any lateral variance of residuedistribution. As shown, in FIGS. 5A and 5B the areas 76 and 80 have beensubdivided laterally (although not limited to the external division) toaddress the problems of uniformity and to better monitor the operationof implement 10. For example, to monitor the operation and effectivenessof individual shanks or discs of implement 10.

FIG. 5A is a rear perspective view showing a rear portion of implement10. As shown in FIG. 5A, the sensed area 76 of ground 16 that isrearward of implement 10 is divided into a plurality of rearward zones75. Rearward zones 75 are segmentations of the sensed area 76. Rearwardzones 75 can each have their own sensor 74 or can share one or moresensors 74 (as shown, all rearward zones 75 share the same sensor 74.Each rearward zone 75 can be treated as area 76 has been describedabove. For example, an amount of residue in each rearward zone 75 can becalculated by analyzing data from sensor 74. For example, using imagedata and an edge finding algorithm to calculate residue coverage. Asshown, there are six rearward zone 75, however, in other examples, theremay be a different number of rearward zones 75. In FIG. 5A the sixrearward zone 75, for example, align each with a given shank 22 (e.g.,there are six rearward zone 75 each that align with a shank 22 in adirection of travel). Aligning rearward zones 75 with a specific groundengaging element of implement 10 may allow characterization of theperformance of the given ground engaging element based on the residuevalue calculated for the given rearward zone 75. For example, assumerearward zone 75A aligns with shank 22A. If the amount of residue inrearward zone 75 A changes while the residue metric of rearward zone 75Bremains unchanged, it may indicate that there is a problem with shank22A. For example, shank 22A may be clogged with residue and is thusaffecting uniformity across area 76 whereas if all rearward zones 75change at the same time it can be inferred there is not a problem withshank 22A, but rather implement 10 has reached the end of the field, forexample.

In other examples area 76 can be segmented into a different number ofrearward zones 75 in a different way as well. For example, there may bea different number of rearward zones 75 that each correspond to one ofdiscs 46, 48 and/or 62. In some examples, there may be overlappingrearward zones 75 that correlate to both shanks 22 and discs 46, 48and/or 62. This way several different metrics can be balanced againstone another to determine if it is a specific shank 22 or a specific disc46, 48 or 62 that is causing the undesired outcome.

For instance, a lateral area may be divided into six equal zones (“shankzones”) corresponding to a set of shanks, while also being divided into18 equal zones (“disk zones”) corresponding to a set of disks. In thisexample, one of the shank zones may be experiencing a large change inresidue coverage which can indicate a plugged shank. However, this shankzone also corresponds with three disk zones, so it is important to checkif these disk zones are affected equally. If it is the case that thethree corresponding disk zones are affected equally, then the problem islikely with the shank. For example, if the shank is plugged then thecorresponding shank zone and its three overlapping disk zones willlikely have residue metrics that change simultaneously and equally.However, if it is the case that one or more of the overlapping diskzones is affected disproportionately then the problem is likely with oneof the disks (and not with the shank). For example, if one of the disksis mis-angled then it may be removing a disproportionate amount ofresidue from its disk zone and placing the residue into an adjacent diskzone. Thus, misalignment, damages, tools, and other problems can beidentified. A system that only has one zone or large zones, may not beable to correctly identify such problems.

FIG. 5B is a rearward perspective view showing a front portion ofimplement 10. As shown, sensor 78 is monitoring area 80 of ground 16.Sensor 78 can sense and generate a signal indicative of the amount ofresidue at given portions of area 80. As shown, area 80 is divided intoseveral forward zones 79. Forward zones 79 represent a portion of ground16 and a sub portion of area 80. As shown, there are six forward zones79, however, in other examples there may be a different number offorward zones 79. Also, forward zones 79 can be shaped in other ways aswell and they are not necessarily limited to the shapes as shown. Sensor78, as shown, detects data across all forward zones 79. In otherexamples, there may be a different number of sensors 78 that detect dataacross forward zones 79. For example, the detecting range of multiplesensors 78 could overlap to provide multiple data sets corresponding toa single zone 79. The number of forward zones 79 can correspond to thenumber of rearward zones 75. This way, a before and after tillingoperation difference can be sensed. For instance, the sensed residue ofa forward zones 79 will be in an initial state and the sensed residue inthe corresponding rearward zone 75 will be the final state after anoperation has been completed on the ground.

FIG. 6 is a block diagram showing one example of implement 10. As shown,implement 10 includes controller 30, user interface mechanisms 262,sensors 240, controllable subsystems 250, residue determination controlsystem 200 and can include other items as well, as indicated by block264.

Sensors 240 illustratively include GPS 72, rearward sensor 74, forwardsensor 78, machine setting sensors 242 and can include other items aswell, as indicated by block 244. Sensors 240, as shown, are located onimplement 10. However, one or more sensors 240 can be located remotelyfrom implement 10. For example, they can be located located on thevehicle towing implement 10, or a drone/UAV/aerial vehicle, or afixed-ground location, or ground vehicle, etc.

GPS sensor 72 can detect a position of implement 10 and generate asensor signal indicative of the sensed position. For example, GPS 72 cangenerate a sensor signal indicative of the GPS coordinates thatcorrespond to the location of implement 10. GPS 72 can, of course, bereplaced by a different type of location sensor as well.

Rearward sensors 74 are mounted at a position where the ground rearwardof implement 10 is visible. Rearward sensors 74 can be any one of theaforementioned sensors 74. For example, an infrared camera, stereocamera, moisture sensor, hardness sensor, etc.

Forward sensors 78 are mounted at a position where they can sense theground forward of implement 10 in a direction of operational travel.Forward sensors 78 can be any of the aforementioned sensors 78, such asan infrared camera, stereo camera, moisture sensor, hardness sensor,etc. Forward sensor 78 are able to generate a sensor signal indicativeof the amount of residue on the ground.

Machine setting sensors 242 can detect various aspects of implement 10.For example, machine setting sensors 242 can include a speedometer thatis indicative of the speed that implement 10 is currently traveling. Asanother example, machine setting sensors 242 can include an odometerthat keep track keeps track of the distance machine 10 has traveled oris traveling. As another example, machine setting sensors 242 caninclude sensors that detect the angles of various controllablesubsystems 250 (e.g. discs 46, 48 and 62). As another example, machinesetting sensors 242 can include sensors that are able to detect theheight of controllable subsystems 250 (e.g. a depth of shank 22 relativeto the ground).

Controllable subsystems 250 include various components described abovewith respect to FIGS. 1-3 . For example, they can include shanks 22which are controlled by cylinders 32 to adjust vertically relative toground 16. As another example, discs 42, 46, 48 and 62 are controlled bycylinders 44, 60 to adjust vertically with respect to ground 16 or wheelassembly 24. Controllable subsystems 250 are not limited to thosedescribed above and can conclude other items as well as indicated byblock 252.

Residue determination control system 200 determines an amount of residuein each zone, forward and rearward of implement 10 and controlsoperation of implement 10 to improve the effectiveness of implement 10(for example, to increase residue uniformity across a field). Residuedetermination and control system 200 includes forward zone generatorlogic 202, rearward zone generator logic 204, forward residue generatorlogic 206, rearward residue generator logic 208, lateral zone comparisonlogic 210, forward-rearward zone comparison logic 212, residue mapgenerator logic 214, historic residue comparison logic 216, diagnosticlogic 230, remedial logic 232, and control signal generator logic 234.Residue determination control system 200 can include other items aswell, as indicated by block 236. The logic components of residuedetermination and control system 200 can be executed by controller 30 orsome other processor discussed below.

Forward zone generator logic 202 identifies or defines (e.g., generates)the different forward zones 79. Forward zone generator logic 202 cangenerate these zones in a variety of different ways. For example,forward zone generator logic 202 can generate the zones according tovarious controllable subsystems 250 of implement 10. For instance, eachforward zone 79 generated by forward zone generator logic 202 can alignwith a specific subsystem 250 (e.g., each forward zone 79 is generatedfor, and aligned with, each shank 22).

Forward zone generator logic 202 can generate the different forwardzones 79 based on specific aspects of the field 16. For example, theforward zones 79 can be as wide as the anticipated planted rows of field16 (as residue may accumulate at similar given intervals that correspondwith the width between rows). Other aspects of field 16 can include thehistoric variations of field 16 that should be monitored. For example,if field 16 historically has had substantially uniform residue coverage,forward zones 79 may be larger as there is a larger historic likelihoodthat uniformity will be maintained across field 16.

Forward zone generator logic 202 can also generate the number and sizeof forward zones 79 manually through operator control the user interfacemechanisms 262. For example, an operator can enter in a specific,number, width and depth of zones to be monitored.

Rearward zone generator logic 204 identifies or defines (e.g.,generates) the plurality of rearward zones 75. Rearward zone generatorlogic 204 can generate rearward zone 75 in similar ways as forward zonegenerator logic 202 generates forward zones 79. For example, rearwardzone generator logic 204 can generate rearward zones 75 so that theycorrespond to one or more of the various controllable subsystems 250(e.g. a rearward zone 75 that corresponds to an area of ground that wasaffected by an operation of a given shank 22). Rearward zone generatorlogic 204 can also create a separate rearward zone 75 that correspondswith a corresponding forward zone 79. For instance, the forward zone 79will correspond to an area of field 16 that will later correspond with arearward zone 75 as implement 10 moves through field 16. This way, aneffect of the operation of implement 10 on field 16 at the specific zonecan be determined.

Forward residue generator logic 206 receives a sensor signal fromforward sensors 78 and generates a residue metric indicative of theamount of residue in a portion of the area sensed by forward sensor 78.Forward residue generator logic 206 can analyze the data received fromforward sensor 78 and generate a metric indicative of the amount ofresidue in forward area 80. Forward residue generator logic 206 can alsouse sensor data from sensor 78 to determine the amount of residue ineach individual forward zone 79. The residue metric can be in percentresidue coverage, volume of residue, weight of residue, etc.

Rearward residue generator logic 208 utilizes similar processes asforward residue generator logic 206 to determine the amount of residuein rearward area 76. Rearward residue generator logic 208 can similarlyalso determine the amount of residue in each individual rearward zone75.

Lateral zone comparison logic 210 compares the amount of residue inlateral zones. For example, lateral zone comparison logic 210 comparesthe amount of residue in one rearward zone 75 to another rearward zone75 and generates a comparison metric indicative of that comparison. Forinstance, lateral zone comparison logic 210 generates a comparisonmetric indicating that one rearward zone 75 (e.g., zone 75A) has asignificant deviation in residue from the other rearward zones 75B-F.This comparison can be indicative of a malfunctioning controllablesubsystem 250 and may result in a remedial operation that increasesuniformity across rearward area 76.

Forward-rearward zone comparison logic 212 compares one or more forwardzones 79 to one or more rearward zones 75 and generates a comparisonmetric indicative of the comparison. For example, forward-rearward zonecomparison logic 212 compares forward zone 79A to rearward zone 75A andgenerates a comparison metric that can be used to determine theeffectiveness of an operation by implement 10.

Specifically, the comparison may indicate whether the controllablesubsystem 208 that aligns with the forward and rearward zone 75A and 79Ais performing adequately. The pre-existing condition of the area treated(e.g. the amount of residue before the tillage operation—as indicated byan image of zone 79A) can be considered in evaluating the result of theoperation (as indicated by an image of zone 75A). For example, if thereis a substantial amount of residue in the forward zone 79A, then thiscan be considered so that it will be expected that there will be moreresidue in the rear corresponding rearward zone 75A.

Residue map generator logic 214 receives residue metric values fromforward residue generator logic 206 and rearward residue generator logic208 as well as a sensor signal from position sensors 72 and generates amap of residue metrics. For example, residue map generator logic 214takes a residue metric for specific rearward zone 75 and stores it inconnection with its location (since there is a known spatialrelationship between position sensor 72 and field of view of sensor 74,the position of rearward zones 75 may be calculated based on the knownposition). A map generated by residue map generator logic 214 can beused by other machines as well. For example, if a large amount ofresidue is in one area, another machine may utilize the map to re-tillthis area or retrieve this residue as it may cause problems whenplanting.

Historic residue comparison logic 216 compares the instantaneous valuesof a residue metric to historic residue metric values (e.g. a valuestored in a map previously created by residue map generator logic 214).For example, if a specific area is known to have high residue metrics,that can be considered when calculating future residue metrics in thatarea or when controlling implement 10 in that area. In one example, anoperator can adjust the sensitivity in collecting and generating of thehistoric residue metric values. For instance, in a field where residuecoverage is highly variable, an operator may desire store more finegrained values (e.g., values for smaller sections of the field), becausea field-wide average may not be as useful in a field that varies widelyor frequently.

Diagnostic logic 230 receives value from other logic components ofresidue determination control system 200 to diagnose a specific problem.For example, if lateral zone comparison logic 210 determines that aspecific zone has a significantly lower amount of residue in it, it canbe assumed that the controllable subsystem 250 that operated in thatzone has a plug. A significant change in a residue metric can be definedby a change that exceeds a threshold or tolerance value. A plug can meanthat residue is accumulating on the specific ground engaging elementrather than being turned or moved by the ground engaging element. Asanother example, diagnostic logic 230 can receive metrics from bothlateral zone comparison logic 210 and forward-rearward zone comparisonlogic 212 and determine that one of the ground engaging elements is atan improper angle. In this case, for instance, two laterally adjacentrearward zones may have significant differences from each other whiletheir corresponding forward zones do not share this significantdifference.

As another example, diagnostic logic 230 can receive metrics fromforward residue generator logic 206 and lateral zone comparison logic210 and determine that the residue distribution in front of theimplement is not within an acceptable level of uniformity. An acceptablelevel of uniformity or threshold uniformity may be a default value ormay be set by a user using one or more user interface mechanisms 262.For example, a slider on a user interface of a display can be utilizedto set the uniformity threshold.

Diagnostic logic 230 may also provide data to residue map generatorlogic 214 as abnormalities are detected. Residue map generator logic 214can store the location of the abnormality in conjunction with thelocation that the abnormality was detected.

Remedial logic 232 receives an indication from diagnostic logic 230 thatis indicative of an abnormality. Remedial logic 232 then determines aremedial action to correct the abnormality. In one example, remediallogic 232 can provide inputs to control signal generator logic 234 togenerate a control signal that automatically implements a change in oneof the controllable subsystems 260 to remedy the identified problem. Forinstance, if a plugged shank is the abnormality, then control signalgenerator logic 234 may raise the shank until the plug is removed atwhich point normal operation may begin again. In another example, if alack of uniformity in front of the implement is the abnormality, thencontrol signal generator logic 234 may angle various disks to moreequally distribute the residue and increase uniformity.

In an open control loop example, remedial logic 232 can utilize an alertsystem 235 to generate an alert to the user to remedy an abnormality.For example, alert system 235 might generate an alert identifying a plugon shank #1. An alert may be audible, visual, haptic, etc.

User interface mechanisms 262 can include a variety of differentmechanisms through which an operator can control implement 10. Forexample, user interface mechanisms 262 can include mechanical componentssuch as, a steering wheel, levers, pedals, buttons, switches, etc. Asother examples, user interface mechanisms 262 can include electronicuser interface components such as, touch screens, displays, buttons,sliders, etc. For example, a user can adjust a slider on a userinterface of a touch screen to adjust the sensitivity with which aclosed-loop control system makes adjustments in response to a detectedabnormality. In one example, a user interface mechanism 262 displays theresidue metrics for each zone.

FIGS. 7A and 7B (collectively referred to herein as FIG. 7 ) illustratea flow diagram showing an example operation of implement 10. Operation700 begins at block 702 where a tilling operation of implement 10begins. For example, a tractor begins towing implement 10 across a fieldwith one or more ground engaging elements engaging the field (e.g. forexample, field 16).

Operation 700 proceeds at block 704 where sensor 78 senses an areaforward of implement 10. For example, sensor 78 can sense area 80 offield 16. Sensor 78 can be a camera, as indicated by block 706. Sensor78 can be a different type of sensor as well, as indicated by block 708.

Operation 700 proceeds at block 710 where forward zone generator logic202 generates a plurality of forward zones 79 that represent portions offorward area 80. The generated zones can be exclusive as indicated byblock 712, meaning that the zones do not overlap with one another. Thezones can be overlapping as indicated by block 714, meaning that one ormore forward zones represent portions of field 16 that are alsorepresented, at least in part, by another forward zone. Zones may bearranged in other ways as well, as indicated by block 716.

Forward zone generator logic 202 can define or generate (e.g., theirarrangement, shape, size, etc.) the zones based on a variety ofdifferent factors, as indicated by block 718-722. As indicated by block718, the zones can be defined based on alignment with one or more groundengaging elements. For example, a zone may be specifically defined toalign with the effective width of one or more grounding engagingelements (e.g., an effective width of the zone is defined to correspondto the width of an area effected by the operation of the ground engagingelement). As indicated by block 720, the zone may be defined based on aspecific field characteristic. For example, if the field is historicallyknown to have uniform residue distribution (e.g., after harvest or afteranother pre-tilling operation), the zones can be larger. Having a largezone can lower sensitivity to uniformity (because a residue metric for azone is effectively an average over the area covered by the zone), whilehaving smaller zones can increase uniformity across a field. It can alsoincrease complexity of operation and processing power needed to analyzethe tilling operation. By knowing the field is likely to be uniform,larger zones can be used to save processing power and reduce complexitywhile, probability-wise, having little effect on the end uniformity ofthe field. As indicated by block 722, the zones can be generated basedon other factors as well.

Operation 700 proceeds at block 724 where forward residue generatorlogic 206 calculates a residue metric of the area sensed forward ofimplement 10. For example, the metric can be represented by a percentcoverage as indicated by block 726. In another example, the residuemetric can represent a volume of residue, as indicated by block 728. Inanother example, the residue metric can be representative of the residueweight, as indicated by block 720. As indicated by block 732, theresidue metric can be indicative of another metric as well.

Operation 700 proceeds at block 734 where the residue metrics of thesensed zones are compared. For example, the zones can be comparedlaterally, across the width of the sensed area, for uniformity. This wayif one zone has more residue than another zone an operation can beperformed to equalize the residue amongst these two zones to increaseuniformity across field 16. The zones can also be compared against theirhistoric values as well, as indicated by block 738. For example, ifhistorically during operation in field 16, a residue metric for a givenzone remains substantially constant, but at some time during operation,the zone residue metric for that given zone significantly changes, theremay be an actionable problem (e.g., such as a plug, or a damaged ormisaligned disk). The zones can be compared in other ways as well, asindicated by block 740. For example, the zones can be compared bothlaterally and historically. For example, assume that the residue metricsfor all zones are historically substantially constant. Then, assume thatthe one zone has a residue metric that shows a significant deviationfrom its historical consistency. It can be assumed that this zone has aproblem. However, if the other zones also had a significant deviation,then this can indicate, that, rather than having a problem, a fieldboundary may have been encountered. These types of comparisons andanalyses are examples only.

Operation 700 proceeds at block 742 where controller 30 controls asubsystem based on the comparison from block 734. For example, acomparison that reveals a lack of uniformity across zones of area 80 mayresult in a specific action by one or more ground engaging elements toincrease uniformity after the tilling operation (e.g., in area 80 offield 16).

Operation 700 proceeds at block 744 where implement 10 operates on theforward area on the area 80 of ground 16.

Operation 700 proceeds at block 746 where the area 76 rearward ofimplement 10 is sensed by sensor 74. As noted above, by correlating thesensing of area 76 to the sensing of area 80, area 76 may represent aportion of field 16 that overlaps with the portion of field 16 which waspreviously represented by area 80. Sensor 74 can be a camera asindicated by 748 or can be some other type of sensor as indicated byblock 750.

Operation 700 proceeds at block 752 where rearward zone generator logic204 generates rearward zones 75 that represent portions of area 76.Rearward zone 75 can be exclusive meaning that the zones 75 do notoverlap with one another, as indicated by block 754. Zones 75 can beoverlapping, as indicated by block 756, meaning that a zone 75represents a portion of field 16 that is also represented, at least inpart, by another zone 75. Zones can be defined in other ways as well, asindicated by block 758.

Rearward zones 75 can be defined or generated (e.g. shaped, located,sized, arranged, etc.) based on a variety of different factors asindicated by blocks 760-766. As indicated by block 760, the zones can bedefined corresponding to a generated forward zone. For example, rearwardzone generator logic 204 will generate a rearward zone 75 such that itwill overlap with a portion of field 16 that was previously representedby a forward zone 79 earlier in operation of implement 10.

As indicated by block 762, the rearward zone 75 can be defined based onthe location of a ground engaging element. For example, a rearward zone75 can represent a portion of field 16 that aligns with, and has thewidth of an area of ground effect by the operation of, one or moregrounding engaging elements. For instance, assume a shank 22 is a fewinches wide but the effect its operation has on the earth is a footwide, in this case, the rearward zone 75 could be sized to the width ofthe effect of the shank (e.g. a foot), to the size of the shank (e.g. afew inches), or otherwise.

As indicated by block 764, rearward zone 75 can be defined based on somecharacteristic of field 16. For example, crops are often planted inrows. The distance between rows and type of crop often influences thedistribution and density of residue in the field. Using one of thesecharacteristics of the crop or field can be useful in calculatingresidue zone sizes. For example, a crop that produces a large amount ofresidue may have greater demands in ensuring residue uniformity acrossfield 16. As indicated by block 766, other factors can be used as wellto define one or more rearward zones 75.

Operation 700 proceeds at block 768 where rearward residue generatorlogic 208 calculates residue metrics for rearward area 76 and theindividual rearward zones 75. The residue metric can be indicative ofthe percent coverage, as indicated by block 770. For example, residuemay cover 60% of the ground surface in a given zone. The residue metriccan also be indicative of the volumetric measure of residue, asindicated by block 772. For example, there may be 10 cubic feet ofresidue in a given zone. As indicated by block 774, the residue metriccan be indicative of the weight of residue. For example, there may be 20pounds of residue in a given zone. As indicated by block 776, theresidue metric can be indicative of other residue measures as well. Itshould be noted that when referring to residue metrics, they can eitherbe direct measures (e.g., measuring residue volume with a volume sensor)or can be estimated measures (e.g., estimating volume based on sensordata from a camera).

Operation 700 proceeds at block 776 where one or more of the pluralitiesof forward zones 79 and/or rearward zones 75 are compared using one ormore methods. As indicated by block 778, zones may be compared laterallyby lateral zone comparison logic 210. Lateral comparisons involvecomparing one or more rearward zones to one another, or comparing one ormore forward zones to one another. A lateral comparison may beindicative of the difference between lateral residue metrics. Forexample, one rearward zone 75 may have 50% coverage while anotherrearward zone 75 has a 10% coverage, in this example, the difference is40% coverage.

The plurality of zones can be compared on a forward to rearward basis byforward-rearward zone comparison logic 212, as indicated by block 780. Aforward to rearward zone comparison involves comparing one or moreforward zones 79 to one or more rearward zones 75. This comparison canbe useful in determining if a prescribed implement 10 (or specificcomponent of implement 10) operation has accomplished its objective. Forexample, forward zone 79A may have less residue coverage than forwardzone 79B so a prescribed action may be to turn one or more discs ofimplement 10 so that it distributes some residue from the groundrepresented by zone 79B to the ground represented by zone 79A. Thenforward-rearward zone comparison logic 212 can compare zone 75A to zone79A and zone 75B to zone 79B to determine whether the prescribed anglingof the disc worked to create better uniformity between the portions offield 16 represented by zones 75A and 75B. This is an example only andthere may be other zone comparisons made in block 776 as well, asindicated by block 782.

Operation 700 proceeds at block 784 where the operation of implement 10is controlled based on the comparison from block 776. For instance, asindicated by block 786, one or more machine settings may be adjusted. Asan example, a ground engaging element can be raised or lowered, or itsangle can be changed, or it can be moved laterally.

In another example, the operator is alerted of a problem, as indicatedby block 788. For example, diagnostic logic 730 can detect, based on thecomparison in block 776, that there is a plug in one or more groundengaging elements. The operation can be controlled to address the plugin other ways as well as indicated by block 790. Operation 700 continuesat block 792 where is determined if there are any more operations tocomplete. If not, operation 700 ends. If there are more operations tocomplete operation 700 continues again at block 704.

It will be noted that the above discussion has described a variety ofdifferent systems, components and/or logic. It will be appreciated thatsuch systems, components and/or logic can be comprised of hardware items(such as processors and associated memory, or other processingcomponents, some of which are described below) that perform thefunctions associated with those systems, components and/or logic. Inaddition, the systems, components and/or logic can be comprised ofsoftware that is loaded into a memory and is subsequently executed by aprocessor or server, or other computing component, as described below.The systems, components and/or logic can also be comprised of differentcombinations of hardware, software, firmware, etc., some examples ofwhich are described below. These are only some examples of differentstructures that can be used to form the systems, components and/or logicdescribed above. Other structures can be used as well.

The present discussion has mentioned processors and servers. In oneexample, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

FIG. 8 is a block diagram of implement 10, shown in FIG. 6 , except thatit is deployed in a remote server architecture 500. In an example,remote server architecture 500 can provide computation, software, dataaccess, and storage services that do not require end-user knowledge ofthe physical location or configuration of the system that delivers theservices. In various examples, remote servers can deliver the servicesover a wide area network, such as the internet, using appropriateprotocols. For instance, remote servers can deliver applications over awide area network and they can be accessed through a web browser or anyother computing component. Software or components shown in FIG. 6 aswell as the corresponding data, can be stored on servers at a remotelocation. The computing resources in a remote server environment can beconsolidated at a remote data center location or they can be dispersed.Remote server infrastructures can deliver services through shared datacenters, even though they appear as a single point of access for theuser. Thus, the components and functions described herein can beprovided from a remote server at a remote location using a remote serverarchitecture. Alternatively, they can be provided from a conventionalserver, or they can be installed on client devices directly, or in otherways.

In the example shown in FIG. 8 , some items are similar to those shownin FIG. 6 and they are similarly numbered. FIG. 8 specifically showsthat residue determination and control system 200 can be located at aremote server location 502. The information can be provided to remoteserver location 502 by implement 10 in any of a wide variety ofdifferent ways. Therefore, machines can access those systems throughremote server location 502.

FIG. 8 also depicts another example of a remote server architecture.FIG. 8 shows that it is also contemplated that some elements of FIG. 6are disposed at remote server location 502 while others are not. By wayof example, residue determination and control system 200, or partsthereof, can be disposed at a location separate from location 502, andaccessed through the remote server at location 502. In another example,residue determination and control system 200 can be disposed at alocation separate from location 502, and accessed through the remoteserver at location 502. In another example, control system 200 can bedisposed at a location separate from location 502, and accessed throughthe remote server at location 502. Regardless of where they are located,they can be accessed directly by implement to or user device, through anetwork (either a wide area network or a local area network), they canbe hosted at a remote site by a service, or they can be provided as aservice, or accessed by a connection service that resides in a remotelocation. Also, the data can be stored in substantially any location andintermittently accessed by, or forwarded to, interested parties. Forinstance, physical carriers can be used instead of, or in addition to,electromagnetic wave carriers. In such an example, where cell coverageis poor or nonexistent, another mobile machine (such as a fuel truck)can have an automated information collection system. As the implementcomes close to the fuel truck for fueling, the system automaticallycollects the information from the implement using any type of ad-hocwireless connection. The collected information can then be forwarded tothe main network as the fuel truck reaches a location where there iscellular coverage (or other wireless coverage). For instance, the fueltruck may enter a covered location when traveling to fuel other machinesor when at a main fuel storage location. All of these architectures arecontemplated herein. Further, the information can be stored on implement10 until the machine enters a covered location. The machine, itself, canthen send the information to the main network.

It will also be noted that the elements of FIG. 6 , or portions of them,can be disposed on a wide variety of different devices. Some of thosedevices include servers, desktop computers, laptop computers, tabletcomputers, or other mobile devices, such as palm top computers, cellphones, smart phones, multimedia players, personal digital assistants,etc.

FIG. 9 is a simplified block diagram of one illustrative example of ahandheld or mobile computing device that can be used as a user's orclient's handheld devices 16, in which the present system (or parts ofit) can be deployed. For instance, a mobile device can be deployed inthe operator compartment of implement 10, or as user device 504 for usein generating, processing, or displaying the plant evaluationinformation. FIGS. 10-11 are examples of handheld or mobile devices.

FIG. 9 provides a general block diagram of the components of a clientdevice 916 that can run some components shown in FIG. 6 , that interactswith them, or both. In the device 916, a communications link 913 isprovided that allows the handheld device to communicate with othercomputing devices and under some examples provides a channel forreceiving information automatically, such as by scanning. Examples ofcommunications link 913 include allowing communication though one ormore communication protocols, such as wireless services used to providecellular access to a network, as well as protocols that provide localwireless connections to networks.

In other examples, applications can be received on a removable SecureDigital (SD) card that is connected to an interface 915. Interface 915and communication links 913 communicate with a processor 917 (which canalso embody any processor or server from previous Figures) along a bus919 that is also connected to memory 921 and input/output (I/O)components 923, as well as clock 925 and location system 927.

I/O components 923, in one example, are provided to facilitate input andoutput operations. I/O components 923 for various examples of the device916 can include input components such as buttons, touch sensors, opticalsensors, microphones, touch screens, proximity sensors, accelerometers,orientation sensors and output components such as a display device, aspeaker, and or a printer port. Other I/O components 923 can be used aswell.

Clock 925 illustratively comprises a real time clock component thatoutputs a time and date. It can also, illustratively, provide timingfunctions for processor 917.

Location system 927 illustratively includes a component that outputs acurrent geographical location of device 916. This can include, forinstance, a global positioning system (GPS) receiver, a LORAN system, adead reckoning system, a cellular triangulation system, or otherpositioning system. It can also include, for example, mapping softwareor navigation software that generates desired maps, navigation routesand other geographic functions.

Memory 921 stores operating system 929, network settings 931,applications 393, application configuration settings 935, data store937, communication drivers 939, and communication configuration settings941. Memory 921 can include all types of tangible volatile andnon-volatile computer-readable memory devices. It can also includecomputer storage media (described below). Memory 921 stores computerreadable instructions that, when executed by processor 917, cause theprocessor to perform computer-implemented steps or functions accordingto the instructions. Processor 917 can be activated by other componentsto facilitate their functionality as well.

FIG. 10 shows one example in which device 16 is a tablet computer 600.In FIG. 10 , computer 600 is shown with user interface display screen602. Screen 602 can be a touch screen or a pen-enabled interface thatreceives inputs from a pen or stylus. It can also use an on-screenvirtual keyboard. Of course, it might also be attached to a keyboard orother user input device through a suitable attachment mechanism, such asa wireless link or USB port, for instance. Computer 600 can alsoillustratively receive voice inputs as well.

FIG. 11 shows that the device can be a smart phone 971. Smart phone 971has a touch sensitive display 973 that displays icons or tiles or otheruser input mechanisms 975. Mechanisms 975 can be used by a user to runapplications, make calls, perform data transfer operations, etc. Ingeneral, smart phone 971 is built on a mobile operating system andoffers more advanced computing capability and connectivity than afeature phone.

Note that other forms of the devices 16 are possible.

FIG. 12 is one example of a computing environment in which elements ofFIG. 6 , or parts of it, (for example) can be deployed. With referenceto FIG. 12 , an example system for implementing some examples includes ageneral-purpose computing device in the form of a computer 810.Components of computer 810 may include, but are not limited to, aprocessing unit 820 (which can comprise processors or servers from anyprevious Figure), a system memory 830, and a system bus 821 that couplesvarious system components including the system memory to the processingunit 820. The system bus 821 may be any of several types of busstructures including a memory bus or memory controller, a peripheralbus, and a local bus using any of a variety of bus architectures. Memoryand programs described with respect to FIG. 6 can be deployed incorresponding portions of FIG. 12 .

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random-access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 12 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 12 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, nonvolatile magnetic disk852, an optical disk drive 855, and nonvolatile optical disk 856. Thehard disk drive 841 is typically connected to the system bus 821 througha non-removable memory interface such as interface 840, and optical diskdrive 855 are typically connected to the system bus 821 by a removablememory interface, such as interface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (e.g., ASICs),Application-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 12 , provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 12 , for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a local area network—LAN, or wide area network WAN)to one or more remote computers, such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 12 illustrates,for example, that remote application programs 885 can reside on remotecomputer 880.

It should also be noted that the different examples described herein canbe combined in different ways. That is, parts of one or more examplescan be combined with parts of one or more other examples. All of this iscontemplated herein.

Example 1 is an agricultural machine comprising:

a set of ground engaging elements that perform a ground engagingoperation as the agricultural machine travels in a travel direction;

a controllable subsystem that controls the set of ground engagingelements to perform the ground engaging application;

a rearward sensor mounted to the agricultural machine to sense an areaof ground behind the agricultural machine, relative to the traveldirection, and generate a rearward sensor signal;

rearward zone generator logic that determines a first zone and a secondzone, wherein the first zone and the second zone represent differentportions of the area of ground behind the agricultural machine;

rearward residue generator logic configured to receive the rearwardsensor signal and determine a first residue metric indicative of theamount of residue in the first zone; and

control logic that controls the controllable subsystem to so the set ofground engaging elements performs the ground engaging operation on thearea of ground based on the first residue metric.

Example 2 is the agricultural machine of any or all previous examples,wherein the rearward residue generator logic is further configured todetermine a second residue metric indicative of the amount of residue inthe second zone and the control logic controls the controllablesubsystem so the set of ground engaging elements perform the groundengaging operation based at least in part on the second residue metric.

Example 3 is the agricultural machine of any or all previous examples,further comprising lateral zone residue comparison logic that comparesthe first residue metric to the second residue metric and generates arearward uniformity metric indicative of the comparison between thefirst residue metric and the second residue metric; and

wherein the control logic is configured to control the controllablesubsystem so the set of ground engaging elements perform the groundengaging operation based at least in part on the rearward uniformitymetric.

Example 4 is the agricultural machine of any or all previous examples,wherein the control logic controls the controllable subsystem so the setof ground engaging elements perform the ground engaging operation toincrease residue uniformity rearward of the agricultural machine.

Example 5 is the agricultural machine of any or all previous examples,further comprising:

a forward sensor mounted to the agricultural machine to sense a forwardarea of ground in front of the agricultural machine, relative to thetravel direction, and generate a forward sensor signal;

forward zone generator logic that determines a third zone and a fourthzone, wherein the third zone and the fourth zone represent differentportions of the area of ground in front of the agricultural machine,wherein the rearward zone generator logic and the forward zone generatorlogic are mounted relative to one another so the portion of the area ofground that is in the third zone when located in the forward areacomprises at least a portion of the area of ground that is in the firstzone when located rearward of the agricultural machine and the portionof the area of ground that is in the fourth zone when located in theforward area comprises at least a portion of the area of ground that isin the second zone when located rearward of the agricultural machine;

forward residue generator logic configured to receive the forward sensorsignal and determine a third residue metric indicative of the amount ofresidue in the third zone; and

wherein the control logic controls the controllable subsystem so the setof ground engaging elements perform the ground engaging operation basedat least in part on the third residue metric.

Example 6 is the agricultural machine of any or all previous examples,wherein the forward residue generator logic is further configured todetermine a fourth residue metric indicative of the amount of residue inthe fourth zone and the control logic controls controllable subsystemsso the set of ground engaging elements perform the ground engagingoperation based at least in part on the fourth residue metric.

Example 7 is the agricultural machine of any or all previous examples,further comprising:

lateral zone residue comparison logic that compares the third residuemetric to the fourth residue metric generates a forward uniformitymetric; and

wherein the control logic controls controllable subsystem so the set ofground-engaging elements perform the ground engaging operation based atleast in part on the forward uniformity metric.

Example 8 is the agricultural machine of any or all previous examples,further comprising forward-rearward comparison logic that compares thefirst reside metric to the third residue metric and generates anoperation effect metric; and

wherein the control logic controls the controllable subsystem so the setof ground-engaging elements perform the ground engaging operation basedat least in part on the operation effect metric.

Example 9 is the agricultural machine of any or all previous examples,further comprising:

a location sensor configured to sense a location of the agriculturalmachine and generate a location signal indicative of the location of theagricultural machine; and

residue map generator logic configured to receive the location signaland generate a map entry indicative of a location of the agriculturalmachine and the first residue metric.

Example 10 is the agricultural machine of any or all previous examples,further comprising:

historic residue data generator logic configured to monitor and store,over time, the first residue metric and generates a historic residuemetric; and

historic residue comparison logic configured to compare a current firstresidue metric with the historic residue metric and generate a historiccomparison metric indicative of the comparison; and

wherein the control logic controls the controllable subsystem so the setof ground engaging elements perform the ground engaging operation basedat least in part on the historic comparison metric.

Example 11 is the agricultural machine of any or all previous examples,further comprising:

diagnostic and alert logic configured to receive the first residuemetric, determine an error and generate an alert to an operator that isindicative of the error.

Example 12 is the agricultural machine of any or all previous examples,further comprising:

a user interface mechanism operably coupled to the rearward zonegenerator logic, wherein actuation of the user interface mechanismchanges the portions of the area of ground behind the agriculturalmachine represented by the first zone.

Example 13 is the agricultural machine of any or all previous examples,wherein the control logic controls the controllable subsystem to adjustthe angle of one of the ground engaging elements.

Example 14 is the agricultural machine of any or all previous examples,wherein the control logic controls the controllable subsystem to adjustthe depth of one of the ground engaging elements.

Example 15 is a method performed by an agricultural machine thatperforms a ground engaging operation when traveling in a traveldirection, the method comprising:

generating with rearward zone generator logic, a first rearward zonesignal that is indicative of a portion of ground rearward of theagriculture machine relative to the travel direction;

sensing, with a rearward sensor, an amount of reside in the firstrearward zone;

generating, with the rearward sensor, a first sensor signal indicativeof the amount of residue in the first rearward zone; and

receiving, with rearward residue generator logic, the first sensorsignal and generating a first residue metric indicative of the amount ofresidue in the first rearward zone;

controlling a set of ground engaging elements, with control logic, toperform the ground engaging operation based on the first residue metric.

Example 16 is the method of any or all previous examples, furthercomprising:

generating with rearward zone generator logic, a second rearward zonethat is indicative of a second portion of ground rearward of theagriculture machine relative to the travel direction;

sensing, with a rearward sensor, an amount of reside in the secondrearward zone;

generating, with the rearward sensor, a second sensor signal indicativeof the amount of residue in the second rearward zone;

receiving, with rearward residue generator logic, the second sensorsignal and generating a second residue metric indicative of the amountof residue in the second rearward zone; and

wherein controlling the set of ground engaging elements with controllogic is based at least in part on the second residue metric.

Example 17 is the method of any or all previous examples, furthercomprising:

determining, with lateral comparison logic, a difference between thefirst residue metric and the second residue metric;

generating, with lateral comparison logic, a difference metricindicative of the difference between the first residue metric and thesecond residue metric; and

wherein controlling the set of ground engaging elements with controllogic is based at least in part on the difference metric.

Example 18 is the method of any or all previous examples, furthercomprising:

generating with forward zone generator logic, a first forward zone thatis indicative of a first portion of ground forward of the agriculturemachine;

sensing, with a forward sensor, an amount of reside in the first forwardzone;

generating, with the forward sensor, a third sensor signal indicative ofthe amount of residue in the first forward zone;

receiving, with forward residue generator logic, the third sensor signaland generating a third residue metric indicative of the amount ofresidue in the first forward zone;

determining, with forward-rearward comparison logic, a differencebetween the first residue metric and the third residue metric;

generating, with the forward-rearward comparison logic, a differencemetric indicative of the difference between the first residue metric andthe third residue metric; and

wherein controlling the set of ground engaging elements with controllogic is based at least in part on the difference metric.

Example 19 is the method of any or all previous examples, whereincontrolling the set of ground engaging elements with control logiccomprises:

generating a control signal indicative of an angle change of a groundengaging element; and

sending the control signal to an actuator of the ground engagingelement.

Example 20 is an agricultural machine comprising:

a set of ground engaging elements;

a forward sensor that senses a forward area that is forward of theagricultural machine;

a rearward sensor that senses a rearward area that is rearward of theagricultural machine;

zone generator logic that generates a plurality of forward zones and aplurality of rearward zones, each forward zone corresponding to at leastone rearward zone;

forward residue generator logic that receives a forward sensor signalfrom the forward sensor and determines an amount of residue in each ofthe plurality of forward zones based on the forward sensor signal andgenerates a plurality of forward residue metrics, each forward residuemetric indicative of the amount of residue in one of the plurality offorward zones;

rearward residue generator logic that receives a rearward sensor signalfrom the rearward sensor and determines an amount of residue in each ofthe plurality of rearward zones based on the rearward sensor signal andgenerates a plurality of rearward residue metrics, each rearward residuemetric indicative of the amount of residue in one of the plurality ofrearward zones;

zone residue comparison logic that compares two or more zones from theplurality of rearward zones and the plurality of forward zones, andgenerates a comparison metric indicative of the comparison; and

control logic that controls at least one of the ground engaging elementsin the set of ground engaging elements based on the comparison metric.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claim.

What is claimed is:
 1. An agricultural machine comprising: a set ofground engaging elements configured to perform a ground engagingoperation as the agricultural machine travels in a travel direction; acontrollable subsystem configured to control the set of ground engagingelements to perform the ground engaging application; a rearward sensormounted to the agricultural machine, the rearward sensor configured tosense an area of ground behind the agricultural machine, relative to thetravel direction, and to generate a rearward sensor signal; one or moreprocessors; and a memory that stores computer executable instructionsthat, when executed by the one or more processors, configure the one ormore processors to: determine a first zone and a second zone, whereinthe first zone and the second zone represent different portions of thearea of ground behind the agricultural machine; receive the rearwardsensor signal and determine a first residue metric indicative of theamount of residue in the first zone; and control the controllablesubsystem so the set of ground engaging elements perform the groundengaging operation on the area of ground based on the first residuemetric.
 2. The agricultural machine of claim 1, wherein the computerexecutable instructions, when executed by the one or more processors,further configure the one or more processors to determine a secondresidue metric indicative of the amount of residue in the second zoneand to control the controllable subsystem so the set of ground engagingelements perform the ground engaging operation based at least in part onthe second residue metric.
 3. The agricultural machine of claim 2,wherein the computer executable instructions, when executed by the oneor more processors, further configure the one or more processors to:compare the first residue metric to the second residue metric and togenerate a rearward uniformity metric indicative of the comparisonbetween the first residue metric and the second residue metric; andcontrol the controllable subsystem so the set of ground engagingelements perform the ground engaging operation based at least in part onthe rearward uniformity metric.
 4. The agricultural machine of claim 3,wherein the computer executable instructions, when executed by the oneor more processors, further configure the one or more processors tocontrol the controllable subsystem so the set of ground engagingelements perform the ground engaging operation to increase residueuniformity rearward of the agricultural machine.
 5. The agriculturalmachine of claim 1, further comprising: a forward sensor mounted to theagricultural machine, the forward sensor configured to sense a forwardarea of ground in front of the agricultural machine, relative to thetravel direction, and to generate a forward sensor signal; wherein thecomputer executable instructions, when executed by the one or moreprocessors, further configure the one or more processors to: determine athird zone and a fourth zone, wherein the third zone and the fourth zonerepresent different portions of the area of ground in front of theagricultural machine, wherein the portion of the area of ground that isin the third zone when located in the forward area comprises at least aportion of the area of ground that is in the first zone when locatedrearward of the agricultural machine and wherein the portion of the areaof ground that is in the fourth zone when located in the forward areacomprises at least a portion of the area of ground that is in the secondzone when located rearward of the agricultural machine; receive theforward sensor signal and determine a third residue metric indicative ofthe amount of residue in the third zone; and control the controllablesubsystem so the set of ground engaging elements perform the groundengaging operation based at least in part on the third residue metric.6. The agricultural machine of claim 5, wherein the computer executableinstructions, when executed by the one or more processors, furtherconfigure the one or more processors to determine a fourth residuemetric indicative of the amount of residue in the fourth zone and tocontrol the controllable subsystem so the set of ground engagingelements perform the ground engaging operation based at least in part onthe fourth residue metric.
 7. The agricultural machine of claim 5,wherein the computer executable instructions, when executed by the oneor more processors, further configure the one or more processors to:compare the third residue metric to the fourth residue metric and togenerate a forward uniformity metric; and control the controllablesubsystem so the set of ground-engaging elements perform the groundengaging operation based at least in part on the forward uniformitymetric.
 8. The agricultural machine of claim 5, wherein the computerexecutable instructions, when executed by the one or more processors,further configure the one or more processors to: compare the firstreside metric to the third residue metric and generate an operationeffect metric; and control the controllable subsystem so the set ofground-engaging elements perform the ground engaging operation based atleast in part on the operation effect metric.
 9. The agriculturalmachine of claim 1, further comprising: a location sensor configured tosense a location of the agricultural machine and to generate a locationsignal indicative of the location of the agricultural machine: andwherein the computer executable instructions, when executed by the oneor more processors, further configure the one or more processors toreceive the location signal and to generate a map entry indicative of alocation of the agricultural machine and the first residue metric. 10.The agricultural machine of claim 1, wherein the computer executableinstructions, when executed by the one or more processors, furtherconfigure the one or more processors to: monitor and store, over time,the first residue metric and generate a historic residue metric; comparea current first residue metric with the historic residue metric andgenerate a historic comparison metric indicative of the comparison; andcontrol the controllable subsystem so the set of ground engagingelements perform the ground engaging operation based at least in part onthe historic comparison metric.
 11. The agricultural machine of claim 1,wherein the computer executable instructions, when executed by the oneor more processors, further configure the one or more processors to:receive the first residue metric, determine an error and generate analert to an operator that is indicative of the error.
 12. Theagricultural machine of claim 1, further comprising: a user interfacemechanism operably coupled to the one or more processors, the userinterface mechanism actuatable to change the portions of the area ofground behind the agricultural machine represented by the first zone.13. The agricultural machine of claim 1, wherein the computer executableinstructions, when executed by the one or more processors, configure theone or more processors to control the controllable subsystem to adjustan angle of one of the ground engaging elements.
 14. The agriculturalmachine of claim 1, wherein the computer executable instructions, whenexecuted by the one or more processors, configure the one or moreprocessors to control the controllable subsystem to adjust a depth ofone of the ground engaging elements.
 15. A method performed by anagricultural machine that performs a ground engaging operation whentraveling in a travel direction, the method comprising: generating afirst rearward zone signal that is indicative of, as a first rearwardzone, a first portion of ground rearward of the agriculture machinerelative to the travel direction; sensing, with a rearward sensor, anamount of reside in the first rearward zone; generating, with therearward sensor, a first sensor signal indicative of the amount ofresidue in the first rearward zone; and receiving the first sensorsignal and generating a first residue metric indicative of the amount ofresidue in the first rearward zone; and controlling a set of groundengaging elements to perform the ground engaging operation based on thefirst residue metric.
 16. The method of claim 15, further comprising:generating a second rearward zone that is indicative of, as a secondrearward zone, a second portion of ground rearward of the agriculturemachine relative to the travel direction; sensing, with a rearwardsensor, an amount of reside in the second rearward zone; generating,with the rearward sensor, a second sensor signal indicative of theamount of residue in the second rearward zone; receiving the secondsensor signal and generating a second residue metric indicative of theamount of residue in the second rearward zone; and wherein controllingthe set of ground engaging elements is based at least in part on thesecond residue metric.
 17. The method of claim 16, further comprising:determining a difference between the first residue metric and the secondresidue metric; generating a difference metric indicative of thedifference between the first residue metric and the second residuemetric; and wherein controlling the set of ground engaging elements isbased at least in part on the difference metric indicative of thedifference between the first residue metric and the second residuemetric.
 18. The method of claim 17, further comprising: generating afirst forward zone that is indicative of, as a first forward zone, afirst portion of ground forward of the agriculture machine; sensing,with a forward sensor, an amount of reside in the first forward zone;generating, with the forward sensor, a third sensor signal indicative ofthe amount of residue in the first forward zone; receiving the thirdsensor signal and generating a third residue metric indicative of theamount of residue in the first forward zone; determining a differencebetween the first residue metric and the third residue metric;generating a difference metric indicative of the difference between thefirst residue metric and the third residue metric; and whereincontrolling the set of ground engaging elements is based at least inpart on the difference metric indicative of the difference between thefirst residue metric and the third residue metric.
 19. The method ofclaim 15, wherein controlling the set of ground engaging elementscomprises: generating a control signal indicative of an angle change ofa ground engaging element; and sending the control signal to an actuatorof the ground engaging element.
 20. An agricultural machine comprising:a set of ground engaging elements; a forward sensor configured to sensea forward area that is forward of the agricultural machine; a rearwardsensor configured to sense a rearward area that is rearward of theagricultural machine; one or more processors; and a memory that storescomputer executable instructions that, when executed by the one or moreprocessors, configure the one or more processors to: generate aplurality of forward zones and a plurality of rearward zones, eachforward zone corresponding to at least one rearward zone; receive aforward sensor signal from the forward sensor; determine an amount ofresidue in each of the plurality of forward zones based on the forwardsensor signal; generate a plurality of forward residue metrics, eachforward residue metric indicative of the amount of residue in one of theplurality of forward zones; receive a rearward sensor signal from therearward sensor; determine an amount of residue in each of the pluralityof rearward zones based on the rearward sensor signal: generate aplurality of rearward residue metrics, each rearward residue metricindicative of the amount of residue in one of the plurality of rearwardzones; compare two or more zones from the plurality of rearward zonesand the plurality of forward zones; generate a comparison metricindicative of the comparison; and control at least one of the groundengaging elements in the set of ground engaging elements based on thecomparison metric.